rosbag2_cpp: sequential reader specifies no order

Signed-off-by: James Smith <james@foxglove.dev>
ros2 · Nov 17, 2022 · 246c9e0 · 246c9e0
1 parent 3c1e553
commit 246c9e0
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/rosbag2_cpp/include/rosbag2_cpp/readers/sequential_reader.hpp b/rosbag2_cpp/include/rosbag2_cpp/readers/sequential_reader.hpp
@@ -19,6 +19,7 @@
 #include <string>
 #include <unordered_set>
 #include <vector>
+#include <optional>
 
 #include "rosbag2_cpp/bag_events.hpp"
 #include "rosbag2_cpp/converter.hpp"
@@ -208,7 +209,7 @@ class ROSBAG2_CPP_PUBLIC SequentialReader
   std::shared_ptr<SerializationFormatConverterFactoryInterface> converter_factory_{};
 
   bag_events::EventCallbackManager callback_manager_;
-  rosbag2_storage::ReadOrder read_order_{};
+  std::optional<rosbag2_storage::ReadOrder> read_order_;
 };
 
 }  // namespace readers

diff --git a/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp b/rosbag2_cpp/src/rosbag2_cpp/readers/sequential_reader.cpp
@@ -106,7 +106,9 @@ void SequentialReader::open(
     if (!storage_) {
       throw std::runtime_error{"No storage could be initialized from the inputs."};
     }
-    storage_->set_read_order(read_order_);
+    if (read_order_ != std::nullopt) {
+      storage_->set_read_order(*read_order_);
+    }
     metadata_ = storage_->get_metadata();
     if (metadata_.relative_file_paths.empty()) {
       ROSBAG2_CPP_LOG_WARN("No file paths were found in metadata.");
@@ -144,11 +146,11 @@ bool SequentialReader::has_next()
     // to read from there. Otherwise, check if there's another message.
     bool current_storage_has_next = storage_->has_next();
     if (!current_storage_has_next) {
-      if (!read_order_.reverse && has_next_file()) {
+      if (read_order_ == std::nullopt || (!read_order_->reverse && has_next_file())) {
         load_next_file();
         return has_next();
       }
-      if (read_order_.reverse && has_prev_file()) {
+      if (read_order_->reverse && has_prev_file()) {
         load_prev_file();
         return has_next();
       }
@@ -255,7 +257,9 @@ void SequentialReader::load_current_file()
     throw std::runtime_error{"No storage could be initialized. Abort"};
   }
   // set filters
-  storage_->set_read_order(read_order_);
+  if (read_order_ != std::nullopt) {
+    storage_->set_read_order(*read_order_);
+  }
   storage_->seek(seek_time_);
   set_filter(topics_filter_);
 }